So far this has worked to rip, or stream and copy the main movie on a DVD.  This works for Disney movies also.

mplayer dvdnav://1 -dvd-device /dev/sr0 -dumpstream -dumpfile movie.mpg

mencoder movie.mpg -ni -nosub -noautosub -alang en -oac mp3lame -lameopts abr:br=128 -ovc lavc -lavcopts vcodec=mpeg4:
vhq=4:v4mv:vqmin=2:vbitrate=4000 -vf pp=de,crop=0:0:0:0,scale=720:-2 -o "/mnt/PiDrive/DVD.rip"/"movie.avi"
